ID 70575

Command and actual operating modes are configured for different transfer types.

Description

With CANopen drives, the command and actual operation modes can be transferred in the cyclic process data (PDO) or in the acyclic data (SDO).

However, the same transfer type must be configured for both data elements, i.e. either both transfer per PDO or both transfer per SDO.

If different transfer types are configured, the error message is output at controller start-up and at the start of drive-controlled homing.

Response

Class

6

Movement stop. Error message output, abort program

Solution

Class

6

Configure the two CANopen objects in the cyclic process data or transfer both by SDO.

Parameter

%1:

Logical axis number [-]

Logical axis number of the axis.

%2:

Current value [-]

Actual operation mode (Object 0x6061) is configured in the cyclic process data (PDO)

%3:

Current value [-]

Command operation mode (Object 0x6060) is configured in the cyclic process data (PDO)

Error type

11, Error message from position controller.